CN105873648A

CN105873648A - Pitch-propelled vehicle

Info

Publication number: CN105873648A
Application number: CN201480057728.6A
Authority: CN
Inventors: R·A·比格勒
Original assignee: Equalia LLC
Current assignee: Equalia LLC
Priority date: 2013-10-21
Filing date: 2014-10-02
Publication date: 2016-08-17
Anticipated expiration: 2034-10-02
Also published as: JP2016540672A; CN105873648B; US10307659B2; WO2015061020A1; EP3038723A4; TW201520110A; US9211470B2; USD795374S1; EP3038723A1; US20150107922A1; TWI640448B; US20160059109A1; KR20160088856A; AU2014340563A1; JP6524076B2

Abstract

A method, system and apparatus for carrying a user including a board for supporting the user, a ground-contacting member coupled with the board, a motorized drive assembly coupled with the ground-contacting member and one or more sensors coupled with the drive assembly. In operation, the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. As a result, the system is able to maintain a desired velocity when ascending, descending or traversing uneven ground without the need for excessive and sometimes impossible tilting of the board.

Description

Pitching degree advances vehicle

Technical field

The present invention relates to vehicular field.More particularly it relates to have the motion sensed based on pitching degree (pitch) Vehicular field.

Background technology

There are business and the leisure vehicle for transporting personnel of many known types.These vehicles of major part are designed to lead to Cross combination balance and support user and three of vehicle remainder or four wheels and relative to rolling stabilizing.Such as, slide plate Being known vehicle, it uses and is positioned to create plate stabilized platform for plate in all directions and four cars of user Wheel.But, many users like challenging the vehicle riding at least partly instability.Scooter is the car that such a part is unstable An example because it is stable on the direction of wheel alignment, but can be perpendicular to align edge-to-edge tumble.Equally Ground, using the single wheelbarrow taken turns is unstable about tumbling in all directions.

Recently, vehicle, such as Sai Gewei (two-wheeled balance car), has been created, and it utilizes balance assistance system not only have Help the most unstable stable vehicle, but also make use of vehicle tumble control its motion.Although this surely Fixedization and motion control are good, on the uneven surface that it can not be frequently encountered by when riding this vehicle in flat surfaces work Fully operational or adapt to this surface.Additionally, they can be complex and costly design, which increase the possibility of damage, The cost of repairs and the totle drilling cost of manufacture.

Summary of the invention

Including the plate for supporting user for transporting the vehicle of user, the ground-contacting element coupled with plate, with ground Motor-driven driving assembly that contact member couples and with drive one or more sensors of coupling of assembly.In operation, driving group Part based on the plate such as sensed by sensor away from plate underlying surfaces one or more distance adjust ground-contacting element speed. As a result of which it is, this system can keep desired speed when can work as upstream and downstream or pass through uneven ground, and without plate Excessive and the most impossible inclination.

In one aspect, the application relates to a kind of vehicle for transporting user.Described vehicle includes for supporting user Plate, the ground-contacting element coupled with plate, the motor-driven driving assembly coupled with ground-contacting element, and one or more with drive The sensor of dynamic assembly coupling, wherein said driving assembly based on the plate sensed by sensor surface below plate one or The speed of multiple distance regulation ground-contacting element.In some embodiments, this plate is elongated along the size of anterior-posterior plane, This anterior-posterior plane aligns with the forward and backward of the traveling of this vehicle.In some embodiments, in sensor or many Individual front sensors is positioned at the front end of the elongated dimension of plate, and the one or more rear sensor in sensor are positioned at plate The rear end of elongated dimension.In some embodiments, drive assembly based on one or more distances by using distance computing board Relative to the pitching degree on surface and apply force to ground-contacting element to reach to contact structure corresponding to the ground of this pitching degree The predetermined speed of part regulates the speed of ground-contacting element.In some embodiments, pitching degree be determined by one or Difference between the mean value of the two or more distances in multiple distances and these distances calculates so that drive assembly for The uneven adjustment on surface.In some embodiments, if the plate balanced by ground-contacting element is in motor-driven driving assembly not work About being unstable along tumbling of anterior-posterior plane when making, and about along front when motor-driven driving assembly is configured as its work The autobalance plate of tumbling of back plane.Vehicle can farther include the vehicle lock cover half operationally coupled with driving assembly Block, wherein, Vehicle locking module prevents from driving assembly to work when locked.In some embodiments, ground-contacting element Including in the group being made up of the arcuate part of wheel, ball, tyre surface and discontinuous wheel one.Vehicle can farther include to be connected to plate One or more lock fastener, wherein, ground-contacting element can by locking or solve lock fastener via securing member select It is connected to plate to selecting property separate with from plate.Vehicle can farther include one or more fixture, and the top being connected to plate makes Fixture the most just highlights and utilizes their pin to mention plate for user.In some embodiments, sensor is acoustics sensor Device and drive assembly include drive ground-contacting element direct drive motor.In some embodiments, assembly is driven Making one cycle of prolongation that every time adjusts of the speed of ground-contacting element, each adjustment period length is based on the time calculated, In this time calculated, the point on the surface that contact adjusting is based on by this ground-contacting element.In some embodiments, Vehicle farther includes one or more jockey's sensor, and it is coupled to ground-contacting element, wherein, jockey's sensor based on by When power on its plate by ground-contacting element detected sense that user or Payload be onboard.

Further aspect of the application relates to a kind of method transporting user.The method consists of assuming that the position on vehicle Putting, described vehicle includes the plate for supporting user, and the single ground-contacting element coupled with plate couples with ground-contacting element Motor-driven driving assembly and one or more and drive the sensor that couples of assembly, wherein said driving assembly is based on by sensor The plate detected one or more distances away from the surface below plate adjust the speed of ground-contacting element, and by making plate phase Surface is tilted to operate vehicle.In some embodiments, this plate is elongated along the size in anterior-posterior plane, should Anterior-posterior plane aligns with the forward and backward of the traveling of this vehicle.In some embodiments, one or more in sensor Front sensors is positioned at the front end of the elongated dimension of plate, and the one or more rear sensor in sensor are positioned at the length of plate The rear end of shape size.In some embodiments, assembly is driven to pass through the pitching degree using distance computing board relative to surface, and And apply force to ground-contacting element to reach the predetermined speed of the ground-contacting element corresponding to this pitching degree and based on one Or it is multiple apart from the speed adjusting ground-contacting element.In some embodiments, pitching degree be determined by one or more away from From and distance in two or more distances mean value between difference determine so that drive assembly adjust for surface not Smooth.In some embodiments, as the plate that balanced by ground-contacting element when motor-driven driver part does not works relative to edge Tumbling of anterior-posterior plane is unstable, and motor-driven driving assembly is configured to when its work incline relative to along anterior-posterior plane Turn over autobalance plate.In some embodiments, vehicle farther includes the Vehicle locking operationally coupled with driving assembly Module, wherein, Vehicle locking module prevents from driving assembly to operate when locked.In some embodiments, ground contact structure Part includes in the group being made up of the arcuate part of wheel, ball, tyre surface and discontinuous wheel.The method can farther include through Ground-contacting element is optionally joined by locking or solution lock fastener by one or more lock fastener being connected to plate Receive plate or it is separated from plate.In some embodiments, vehicle also includes one or more fixture being connected to plate top Fixture is the most just highlighted utilizes their pin to mention plate for user.In some embodiments, sensor is that acoustics passes Sensor and drive assembly include drive ground-contacting element direct drive motor.In some embodiments, driving group Part makes one cycle of delay that every time adjusts of the speed of ground-contacting element, and the length in the cycle every time adjusted is based on calculating Time, in this time calculated, the point on the surface that contact adjusting is based on by this ground-contacting element.Some embodiment party In formula, vehicle farther includes one or more jockey's sensor being coupled to ground-contacting element, wherein, jockey's sensor base In that detected by jockey's sensor, applied power onboard by ground-contacting element and sense when user or Payload and exist On plate.

It yet still another aspect, the application relates to a kind of vehicle for transporting user.Vehicle includes the length for supporting user Shape plate, wherein said plate is elongated along the size in anterior-posterior plane, the forward and backward that this anterior-posterior plane is advanced with vehicle Alignment, the single ground-contacting element coupled with plate, be coupled to plate one or more sensors and operationally with ground The motor-driven driving assembly that contact member and sensor couple, wherein said driving assembly is based on such as by the surface below plate of plate One or more distance represent plates pitching degree adjust ground-contacting element speed, this distance is detected by sensor, Wherein, after described motor-driven driving assembly makes surface and front end and surface and plate about ground-contacting element automatic stabilisation plate Desired distance between end is maintained, and the most desired distance is dynamically determined as the front end of plate and surface and the rear end of plate And the average current distance detected between surface.In some embodiments, pitching degree is defined as when by driving assembly By during automatic stabilisation from the degree of the angle deviating about ground-contacting element of plate.

Accompanying drawing explanation

Figure 1A illustrates that the pitching degree according to some embodiments advances the side view of vehicle.

Figure 1B illustrates that the pitching degree according to some embodiments advances the top perspective of vehicle.

Fig. 1 C illustrates that the pitching degree according to some embodiments advances the bottom perspective view of vehicle.

Fig. 1 D illustrates that the pitching degree according to some embodiments advances the top view of vehicle.

Fig. 1 E shows that the pitching degree according to some embodiments advances the bottom view of vehicle.

Fig. 2 illustrates the block diagram of the example controller according to some embodiments.

Fig. 3 illustrates the flow chart of the method transporting user according to some embodiments.

Detailed description of the invention

Pitching degree advances the system of vehicle, the embodiment of apparatus and method, including the plate for supporting user, joins with plate The ground-contacting element connect, with ground-contacting element couple motor-driven driving assembly and one or more with driving assembly couple Sensor.In operation, one or many of the assembly surface below plate based on the plate detected by such as sensor is driven Individual distance adjusts the speed of ground-contacting element.During as a result of which it is, when vehicle driving up, descending or advance on uneven surface, Vehicle provides the advantage changing pitching degree/length velocity relation, and this makes to have not a leg to stand on relative to the pitching degree/length velocity relation of gravity.As Term used herein " ground " can be the earth, and floor or other vehicle 100 any can be on the surfaces of upper traveling.

Figure 1A-1E shows that the pitching degree according to some embodiments advances vehicle 100.As shown in Figure 1A-1E, car 100 include platform or plate 102, protector 103, ground-contacting element 104, drive assembly 106 (a-g), one or more Fixture 108 and one or more scraper plate 109, be linked together all operations.Alternately, one or more in said modules Can be omitted.Plate 102 can be rigidity, and is removably coupled to ground-contacting element 104 so that when being balanced, Ground-contacting element 104 can keep/and gripper shoe 102 and plate 102 can be supported on jockey above the ground.Implement at some In mode, plate 102 includes component fastening assembly 105, and it is by ground-contacting element 104 and/or drives in assembly 106 (a-g) Some or all are connected to plate 102.As a result, ground-contacting element 104 can be by unblock or locking component fastening assembly 105 Optionally separate or be connected to plate 102 from plate 102.The latching/delatching mechanism of this component fastening assembly 105 can be key-lock, Snapping fit attachment, screw on/back out or other types securing member, it can keep ground-contacting element 104 relative to plate 102 And/or drive some or all in assembly 106 (a-g) in latched position.Therefore vehicle 100 provides the advantage that, uses Plate 102 and/or ground-contacting element 104 are easily changed or repaired to component fastening assembly 105.

As shown in Figure 1A, jockey protected by protector 103 from the top of ground-contacting element 104, because it projects through Plate 102.This provide prevent jockey by step on or otherwise contact ground-contacting element 104 and injured.Although such as figure Shown in, protector 103 covers a part for the side of ground-contacting element 104, because it projects through the top of plate 102, Be appreciated that or many or or the ground-contacting element 104 of few (such as, all) be can be protected by protector 103.Such as Figure 1A Shown in, the either side that two scraper plates 109 are positioned in ground-contacting element 104 makes scraper plate 109 neighbouring and/or around component 104 lower ends.As a result of which it is, scraper plate 109 can protect vehicle 100 to prevent foreign material example between ground-contacting element 104 and plate 102 As rock enters vehicle 100.Particularly, scraper plate 109 can be sized to fill ground-contacting element 104 and plate 102 Any gap between Xia Ce and/or be positioned as close as possible face contact member 104 to stop that foreign material are by this Gap enters vehicle 100.Further, it is contemplated that be can be similarly oriented at protector 103 and/or fixture 108 On the top of plate 102, to stop that the gap that foreign material pass through between plate 102 and ground-contacting elements 104 enters in the top side of plate 102 Vehicle 100.In addition, it is contemplated that can be used more or less than two scraper plates 109.

Plate 102 can have the thickness of the pin for receiving/support jockey and broad and/or substantially flat top/end Surface.In some embodiments, plate 102 can have oval top surface, and it has elongated dimension in forward/backward direction, It is similar to the plate of slide plate.Particularly, this elongated dimension can substantially orientation with ground-contacting element 104 align so that rides Hand can ride plate laterally, as people can ride slide plate to direct of travel.Alternately, the top surface of plate 102 can be round Shape, avette, rectangle, square or other shape.As shown in Figure 1A-1E, plate 102 can in front-end and back-end upwards angulation Degree, to provide preferably control to jockey, and prevents the pin of jockey from slipping away plate 102.Alternatively, plate 102 can be smooth, or Bend downward or upward with identical or different angle in one or two end.In some embodiments, plate 102 is at least Part hollow so that plate 102 can accommodate and protect in driving assembly 106, fixture 108 and/or ground-contacting element 104 Some or all.Alternately, plate 102 can be solid.As shown in Figure 1B and 1D, plate 102 can have veining Surface 112 and/or include veining pad 112, its be connected to the end face of plate 102 with the surface of the pin and plate 102 that improve jockey it Between traction.

As shown in Figure 1A-1E, this vehicle 100 includes two fixtures 108, and adjacent member securing member 105 is positioned at plate End before and after 102.Alternately, any number of fixture 108 can be used and be positioned at any part of plate 102. Such as, plate 102 can have multiple coupled position, is configured to be releasably attached to one or more fixture 108 and makes to use Family can select the ideal position of fixture and quantity to be releasably attached to plate 102.Alternatively, or in addition, coupled position energy It is enough adjustable so that can be from the position realized by coupled position for each coupled position (and/or fixture 108) user Scope adjusts the position of fixture.Therefore, plate 102 and fixture 108 provide the advantage that, i.e. allow users to adjust fixture 108 Width, orientation, quantity and/or other features with best with pin clamp vehicle 100.In an identical manner, in fixture 108 One or more fixtures can be replaced by the folder of different size, color, shape and other features the most on the plate 102 Tool 108.In some embodiments, can be by ground-tint wholly or in part such as one or more in Figure 1A-1E, fixture 108 Physics and chemistry remains to the ability on fixture 108 to improve user with their pin.Alternately, fixture 108 can be omitted.

As shown in Figure 1A-1E, this ground-contacting element 104 can include single wheel.In some embodiments, ground Face contact member can be one or more wheel, and it has a little width, such as 1.5 inches or less, or plate 102 The 1/5 or less of width, this makes vehicle 100 can tilt to left or right side more easily turn by making plate 102 and wheel 104 Dynamic.Further, since component 104 is removably coupled to plate 102 as mentioned above, there is the structure of different in width and/or other sizes Part 104 can be as desired to exchange with regulation ground-contacting element 104 and the therefore balance of vehicle 100 and the spy of rotation Point.Alternately, ground-contacting element 104 can include, alone or in combination, and the arcuate part of wheel, ball, wheel or ball, wheel Bunch, track, crawler belt or the other kinds of ground-contacting element being known in the art.Although additionally, the most single ground Contact member 104 is illustrated, and multiple ground-contacting element 104 are expected.In some embodiments, ground-contacting element 104 Can include that multiple groove is connected to drive assembly 106 to be driven assembly 106 to rotate and/or otherwise for operable Drive.In such embodiment, component 104 can be off relative to plate 102, this make plate 102 can closer to ground, When being supported on above the ground by component 104.Alternatively or additionally, other Poewr transmission mechanisms can be used, Such as axletree, wherein plate 102 is centered about axletree and/or other mechanisms as known in the art.

As shown in Figure 1A-1E, assembly 106 is driven to include one or more motor 106a, battery 106b, controller 106c, jockey sensor 106d, ground transaucer 106e and/or user display 106f, safety element 106g, all can grasp It is linked together to operate vehicle 100 with making.Alternatively, drive assembly 106 to include or many or or few assembly and/or Each assembly more or less.Although the ad-hoc location being shown in Figure 1A-1E, it should be appreciated that of the assembly in driving assembly 106 Individual or multiple can be positioned on plate 102 or interior any position.Such as, the most only unique user shows Device 106f is to be used, or user shows that its 106f can be omitted.Assembly 106 is driven to be accommodated by plate 102.Its result It is that this plate 102 can protect driving assembly 106 from damage.Alternatively, the one or more assemblies driving assembly 106 can Completely or partially exposed.Although as shown in Fig. 1 C and 1E, vehicle 100 includes limited number motor 106a, battery 106b, Controller 106c, jockey sensor 106d, ground transaucer 106e, user display 106f and/or safety element 106g.Permissible Understand that more or less each assembly is expected, including one or more omission of assembly.

One or more motor 106a operationally and/or are mechanically coupled to ground-contacting element 104 to make ground Contact member 104 rotates and thus stablizes and mobile vehicle 100.In some way of example, motor 106a can connect with ground In touching component 104, multiple grooves engage or couple, so that the motion/power of motor 106a is transferred to ground-contacting element 104.Example As, one or more motor 106a (can such as have for electronic and/or direct drive motor and be connected to component and without any all The motor of direct drive mechanism of decelerator such as gear-box), the groove of its direct mechanical coupling member 104 is so that component 104 revolves Turn/activate, as controlled by controller 106c.As a result of which it is, vehicle 100 can provide increase efficiency in this embodiment Advantage, this is not owing to having middle power to be lost, and reduces noise and longer life-span, and this is owing to less/simpler parts, With the high torque (HT) of slow speed per minute and by eliminate mechanical backlash, delayed and elastic faster/be accurately positioned.Alternately, One or more in motor 106a can be non-immediate driving and/or electro-motor, such as, burn, hydraulic pressure or other type of Direct or indirect driving motor.

One or more battery 106b can be with motor 106a, controller 106c, jockey sensor 106d, ground transaucer 106e, user display 106f and/or safety element 106g couple and provide electric power for them.In some embodiments, Battery 106b can be rechargeable battery, provides electrical power for vehicle 100.In such embodiment, vehicle 100 can Including port or plug for receiving electric power from the external source of such as supply socket.Alternatively, in such embodiment, Vehicle 100 can include one or more solar array, and one or more battery 106a can be recharged by it.Alternative Ground, battery can be non-rechargeable so that they must be periodically replaced.In some embodiments, battery 106b can be Position across motor 106a in plate 102 so that they in plate 102 about ground-contacting element 104 balancing motor 106a's Weight.Alternately, battery 106b can be positioned in Anywhere in plate 102 or on plate.

Jockey sensor 106d can be coupled to ground-contacting element 104 and/or plate 102 so that sensor 106d energy Enough sense suitable user (or Payload) on the plate 102.Such as, one or more in jockey's sensor 106d can be determined Position on the top surface of plate 102 to sense the pin of when jockey or other Payloads on the surface of plate 102.Alternately, Jockey sensor 106d can be positioned at other point of vehicle 100.Such as, the one or more energy in jockey's sensor 106d Coupling point (such as, the component securing member 105) place being enough positioned between plate 102 and ground-contacting element 104, to measure warp Be applied to the power of ground-contacting element 104 by plate 102, this power is produced by the weight of user on the plate 102.Some embodiment party In formula, jockey sensor 106d can include electric resistance sensor, force snesor, acoustic sensor, vision sensor, capacitance sensor Or it is well known in the present art other type of sensor.Force snesor can measure plate 102 and/or ground-contacting element The weight at a point on 104 or power, wherein when power measurement exceedes predetermined threshold, user or Payload are confirmed as depositing ?.Acoustic sensor (such as sonar) can export acoustical signal, and any echo based on the signal input providing sensor is true Determine user or Payload the most on the plate 102.Similarly, vision sensor (such as infrared ray) can export visual signal (or simply by external view signal), and determine whether that user or Payload are at plate based on the input optical signal recorded On 102.And, capacitance sensor can detect the change of the electric capacity between the element being connected to plate 102, wherein between element Electric capacity be increased higher than user during predetermined threshold or Payload be determined exist.

Ground transaucer 106e is operationally to couple so that input based on them will with controller 106c (such as electricity) Signal is transferred to controller 106c.As shown in Fig. 1 C and 1E, ground transaucer 106 can be at ground-contacting element 104 Either end (front and rear) is partly accommodated and is positioned on the bottom of plate 102.As a result of which it is, ground transaucer 106e can survey Measure the distance between plate 102 and ground at the two ends of plate 102.Therefore, as referring to described in controller 106c, based on this A little distance (with the predeterminable range of sensor 106e Yu ground-contacting element 104) controller 106c measured can determine plate 102 Pitching degree relative to ground.Alternately, ground transaucer 106e can be positioned in the other parts of plate 102.Real at some Executing in mode, ground transaucer 106e is merely positioned in the single end (front or rear) of plate 102.

Ground transaucer 106e can be sonic transducer (such as based on sonar sensor), and it exports acoustical signal, then base In the echo of the acoustical signal received by sensor 106e or reflection determine between sensor and ground or another object away from From.Alternately, ground transaucer 106e can be optical sensor, such as, output optical signal (such as infrared ray), be then based on as The reflection of the optical signal received by sensor 106e determines the distance between sensor and ground or another object.Alternative Ground, ground transaucer 106e can include sonic transducer, optical sensor, radio frequency sensor, force snesor, pressure sensor or it Combination.

User display 106f is operationally (such as electricity) Coupling Control Unit 106c, in order to receive aobvious from controller 106f Show order.As a result of which it is, user display 106f can show about vehicle 100 based on the data received from controller 106c Information to user.Such as, display 106f can show the charge level of battery 106b, the present speed of vehicle 100, ground Contact member 104 revolutions per minute, the pitching degree level of plate 102 and direction, if vehicle is in unsafe or impaired bar Part warning or repairing message, current time as known in the art and/or other type of information.Such as institute in Figure 1B and 1D Showing, display 106f can be positioned in the front-end and back-end of plate 102.Alternately, display 106f can be positioned in circuit The other parts of plate 102.

Safety element 106g can include lamp and/or loudspeaker, and it exports light and/or sound from vehicle 100.Such as, peace Full element 106g can include lamp, and it illuminates the region around vehicle 100, and path before such as vehicle 100, just as on automobile Head lamp the same, and/or the rear portion of vehicle 100, just as automobile tail light.In some embodiments, closest to traveling The safety element 106g display white light in direction is to illuminate upcoming road/surface.In some embodiments, closest to The safety element 106g at the rear of direct of travel shows red light, to indicate the back of vehicle 100, and/or can be by controller 106c controls to light when vehicle 100 slows down/brakes, as automobile tail light.In some embodiments, safety element 106g Color and/or operation can switch over based on the direct of travel of vehicle 100.Such as, as the safety element 106g of taillight Allowing hand over operation, to serve as head lamp, vice versa, when vehicle 100 is in opposite direction.In some embodiments, safety unit Part 106g is configured to sense ambient light and and if only if the ambient light of detection activates less than during threshold level.Alternatively or additionally Ground, safety element 106 grams can be activated or manually deactivate.

In some embodiments, safety element 106g can export warning noise, and warning people's vehicle 100 is close.? In some embodiments, noise acceleration based on vehicle 100, deceleration or other operations can change tone, frequency or other. In some embodiments, safety element 106g can couple with audio-source via controller or separate so that they can be based on The signal received from audio-source produces sound.Such as, this safety element 106g can be from radio or antenna and/or from another Individual audio source device (such as phone, iPod) plays music.Safety element 106g operationally (such as electricity) Coupling Control Unit 106c is to receive order from controller 106f.As a result of which it is, user display 106f can receive based on from controller 106c To data operate.As shown in Figure 1B and 1D, safety element 106g is positioned in the forward and backward end of plate 102.Alternative Ground, safety element 106g can be positioned in the other parts of plate 102.

Controller 106c is operatively coupled to motor 106a, jockey sensor 106d, ground transaucer 106e, user Display 106f and/or safety element 106g to control their operation according to predetermined operating protocol module as described below. In some embodiments, other assemblies one or more of controller 106c and vehicle 100 can pass through controller local Network (CAN) bus is coupled.

Alternately, other network can be used.Fig. 2 illustrates the example controller 106c according to some embodiments Block diagram.As shown in Figure 2, controller 106c include network interface 202, memory 204, processor 206, I/O equipment 208, Bus 210 and storage device 212.Alternatively, the one or more of shown assembly can be removed or be substituted by this area Other assembly known in.The selection of processor is not the strictest, as long as the suitable processor with enough speed is chosen ?.Memory 204 can be known any traditional computer storage in the prior art.Storage device 212 can wrap Include hard disk drive, CDROM, CDRW, DVD, DVDRW, flash card or other storage device any.Controller 106c can wrap Include one or more network interface 202.The example of network interface includes the network interface card being connected to Ethernet or other type LAN.I/O Equipment 208 can include following one or more: keyboard, mouse, monitor, display, printer, modem, touch Screen, push-button interface and miscellaneous equipment.Storage device 212 He can be stored in for operating the operating protocol 230 of vehicle 100 Memory 204 and processed as program is typically processed.Assembly more or less shown in Fig. 2 can be included At controller 106c.In some embodiments, operating protocol hardware 220 is included, and wherein said hardware achieves behaviour Make part or all of agreement.

Although as shown in Figure 2, controller 106c includes software 230 and for realizing the hardware 220 of this operating protocol, institute State operating protocol to be implemented with hardware, firmware, software or their any combination.Additionally, controller 106c can include Fig. 2 Not shown in one or more assemblies, make controller 106c can perform commutation and other calculate.Such as, controller 106c can Including encoder, for encoding this ground-contacting element 104 relative to plate 102 or the position of another static tay.These groups Part is not it is well known in the art that be described herein.

In operation, when implementing this operating protocol, controller 106c is based on from ground transaucer 106e Or multiple inputs determine between one or both and ground (or the plate 102 table below face) in the front and back ends of plate 102 away from From.Distance determined by subsequently, based on, controller 106c computing board 102 is relative to the pitching degree on ground, and based on being determined Plate pitching degree make motor 106a apply force to ground-contacting element 104.Such as, if controller 106c determines that plate 102 is Tilting in one horizontal plane, controller 106c makes ground-contacting element 104 (by motor 106a) slow down, accelerates and/or reverse, So that close to and be finally matched with desired speed, acceleration and/or the moment of torsion being associated with the pitching degree of the first horizontal plane.Knot Fruit is, in the ordinary course of things, when user incline body with relative to ground be inclined upwardly in rear or front plate 102 time, controller 106c To make ground-contacting element 104 and and then vehicle 100 move up (or reversely then moving) respectively in rear or front.Result It is that vehicle 100 provides the advantage compensating surface water sea level changes when the pitching determining plate is spent, because this plate pitching degree is phase Ground is determined.When vehicle 100 passes through the ground of injustice, this is important, pitches because they can limit plate Ability.Such as, it is relative in the system of the deviation of gravity based on plate angle at pitching degree, will become difficult when on mountain With or can not turn forward by holding plate, because mountain/ground stops to tilt further.In contrast, pitching degree as herein described Vehicle 100 is advanced to can determine that the pitching degree on relative Yushan Hill/ground makes less forward pitch degree remain able to make vehicle 100 Move forward with expected rate.

In some embodiments, plate pitching degree is based on such as by one or more detection of ground transaucer 106e The current distance of detection between current distance and the rear end of plate 102 and the surface of detection between front end and the surface of plate 102 Mean value is dynamically determined.Alternately, plate pitching degree can by detect between only one end and the surface of plate 102 away from From dynamically determining.Alternatively, plate pitching degree can detect between front end based on plate 102 and surface current distance and plate Between rear end and the surface of 102, the difference between the current distance of detection dynamically determines.

In some embodiments, controller 106c is in view of the change detected in surface, and this surface will be by ground Contact member 104 crosses, when adjust be applied to ground-contacting element 104 power in case obtain desired speed, acceleration and/or During moment of torsion.Especially since sensor 106e before ground-contacting element 104 (with below) segment distance, they energy The characteristic of detection (or mapping) ground/surface and change, before ground-contacting element 104 arrives change.Result is, controller 106c characteristic/change based on ground can adjust and be sent to ground and connect before ground-contacting element 104 has run into characteristic/change Touch the command signal of component 104.In such embodiment, controller 106c can determine when ground will contact structure in future The timing of the control signal that the part 104 anticipated time reaching characteristic/change and adjustment are associated with characteristic/change, with correspondence Time determined by.Time can connect relative to current location and the ground of characteristic/change based on ground-contacting element 104 Touch the speed of component 104, acceleration and/or moment of torsion to be determined.

Such as, if controller 106c detection inclination angle on the horizon, surface is (based on the current direction advanced, previously determined Distance, the distance currently determined between one or more in direct of travel guides side surface and ground transaucer 106e), Controller 106c can increase the amount of the power being applied to ground-contacting element 104, to compensate anticipated inclination angle on the horizon.Equally Ground, power can be lowered, and estimates on the horizon having a down dip to compensate.In other words, even if currently detected pitching degree is corresponding In the first force level, the level of higher or lower power can be applied in detection or characteristic/change pre-interim of mapping.Its knot Fruit is that vehicle 100 provides the advantage that, i.e. provides the PREDICTIVE CONTROL of ground-contacting element 104, to compensate barriers to entry and ground Shape.

In order to adjust the actuating of motor 106a (therefore ground-contacting element 104), controller 106c elaborated code is (the biggest Count in every rotation steps size 1,000) and monitor the ground-contacting element 104 position relative to plate 102.Use this detection The current location arrived is as feedback, and controller 106c can utilize sinusoidal rectification to control the driving of motor 106a, thus controls to execute It is added to the power of ground-contacting element 104.This provides by eliminating by other method for rectifying especially with the generation of relatively low velocity The cogging advantage that creates riding experience more smoothly.Alternately, other type of rectification, the most trapezoidal (or " six Step ") rectification, it is possible to used.In some embodiments, controller 106c can merge control loop feedback mechanism, with base The control of motor 106a is analyzed and adjusts/compensate in feedback (that is, the current location detected of ground-contacting element 104).Example As, controller 106c can be incorporated to closed loop proportional-Integrated Derivative (PID) and control feedback control loop, and it receives feedback, and based on institute State feedback and send controller 106c for regulating one or more error correction signals of the control of rectification and/or motor 106a. Alternately, PID controller can be open loop and/or other type of control loop feedback mechanism can be used, as at this Field is known.Alternately, what controller 106c can control vehicle 100 operates without feedback.

Additionally, replace pitching degree (relative to ground) equivalent to desired moment of torsion, controller 106c can be configured to By pitching degree (relative to ground) equivalent to desired acceleration.Such as, PID control backfeed loop can be configured to determine and add Velocity error compensates rather than torque error compensates.As a result of which it is, this PID controls to provide in backfeed loop and controller 106c Bigger bandwidth can be offered as a tribute to be adjusted into surface change, such as, swell, hole or the advantage on other inclined-plane/slopes.Alternative Ground, PID controls backfeed loop and can carry out the most as required configuring with vernier control signal compensation as required.Separately Outward, in some embodiments, vehicle 100 can include transmitting a signal to controller 106c one or more gyroscopes and/ Or acceleration transducer so that controller 106c can smooth or process further the information received from ground transaucer 106e.

Fig. 3 illustrates the flow chart of the method transporting user according to some embodiments.As it is shown on figure 3, user/jockey is in step Rapid 302 suppose the position on the plate 102 of vehicle 100.User/jockey is by making plate 102 tilt relative to surface or tilting Operation vehicle so that motor 106a causes ground-contacting element 104 to be boosted vehicle in the side tilting/tilting in step 304. In some embodiments, user by locking or solves locking via the one or more component securing members 105 being connected to plate 102 Ground-contacting element 104 is optionally connected to plate 102 or separates ground-contacting element 104 from plate 102 by firmware 105.One In a little embodiments, user by locking or solves lock fastener selectivity via the one or more securing members being connected to plate 102 Fixture 108 is connected to plate 102 or from plate 102 separating clamp 108 by ground.As a result of which it is, the method provides compensating plate pitching degree true The fixed advantage being responsible for the horizontal plane change to ground or the surface below plate 102.

Pitching degree as herein described advances Vehicular system, apparatus and method to have many advantages.Specifically, as above institute Stating, vehicle provides and changes pitching degree/length velocity relation with corresponding to the surface (being detected by such as acoustic sensor) below plate Advantage, when upwards, downwards or advance on uneven surface time make to can't stand relative to the pitching degree/length velocity relation of gravity Pin.Additionally, it provides the advantage including foot fixture, this foot fixture enables users to pin jump or mentions plate, when close to curb or During other obstacles.Make ground-contacting element optionally can be discharged from plate/driving assembly/separate additionally, it provide, and The most again the advantage coupled or change from different ground-contacting element.Additionally, this vehicle provides to utilize directly drives horse Reaching/the advantage of mechanism, it more effectively transmits power to ground-contacting element, it is provided that more preferable moment of torsion at lower speeds And save battery life.It addition, vehicle provides, use is thin to be taken turns or the advantage of other kinds of ground-contacting element, and it makes at car By can more easily be turned to direct of travel side hang plate.

The present invention combines details in detailed description of the invention and is described, to facilitate to the present invention structurally and operationally The understanding of principle.Such reference of detailed description of the invention and their details is not intended to limit the model of claims Enclose.This is apparent from those skilled in the art, can make other various amendments and be selected for explanation embodiment In without deviating from the spirit and scope being defined by the claims of the present invention.Such as, in some embodiments, driving group Part 106 can include locking module or mechanism, and it can make user lock vehicle to avoid theft.Particularly, controller 106c Can be configured such that and prevent vehicle 100 from being operated unless inputted reception password, the RF signal quilt of coupling prearranged signals via user Receiving, the bluetooth forming mobile computing device connects, and this mobile computing device has identifier, its this identified and/or its The locking/unlocking method that he is suitable.

Claims

1. for transporting the vehicle of user, including:

For supporting the plate of user；

The ground-contacting element coupled with described plate；

The motor-driven driving assembly coupled with ground-contacting element；And

The one or more sensors coupled with described driving assembly, wherein, described driving assembly based on by as described in sensor One or more distances on detected described plate surface below described plate adjust the speed of described ground-contacting element.

The most according to claim 1, vehicle, wherein said plate is along aliging with the forward and backward of the traveling of described vehicle Size in anterior-posterior plane is elongated.

The most according to claim 2, vehicle, the one or more front sensors in wherein said sensor are positioned described plate The front end of elongated dimension, and the one or more rear sensor in described sensor is positioned at the elongated dimension of described plate Rear portion.

Vehicle the most according to claim 1, wherein said driving assembly passes through to use based on the one or more distance Described distance calculates described plate and relative to the pitching degree on described surface and applies force to described ground-contacting element to realize Corresponding to the predetermined speed of the described ground-contacting element of described pitching degree, adjust the speed of described ground-contacting element.

Vehicle the most according to claim 4, wherein said pitching degree be determined by the one or more distance with described away from Difference between the mean value of the two or more distances in from calculates so that described driving assembly in described surface not Smooth adjustment.

Vehicle the most according to claim 2, wherein by as described in ground-contacting element balance as described in plate when as described in motor-driven Drive assembly in operation time relative to being unstable along tumbling of described anterior-posterior plane, and described motor-driven driving group Part be configured as described motor-driven driving assembly in operation time relative to the autobalance institute that tumbles along described anterior-posterior plane State plate.

Vehicle the most according to claim 1, also includes Vehicle locking module, and it is operatively coupled described driving assembly, Wherein, when locked, described Vehicle locking module prevents the operation of described driving assembly.

Vehicle the most according to claim 1, wherein said ground-contacting element includes by wheel, ball, tyre surface and discontinuously takes turns Arcuate part composition group in one.

Vehicle the most according to claim 1, also includes the one or more lock fastener being connected to described plate, Qi Zhongsuo State ground-contacting element can via described securing member by locking or unlock described securing member optionally couple described plate and Separate from described plate.

The most according to claim 1, vehicle, also include that one or more fixture, described fixture are connected to the top of described plate, Described fixture is the most just highlighted utilizes their pin to mention described plate for user.

11. vehicles according to claim 1, wherein said sensor is acoustic sensor and described driving assembly includes driving The direct drive motor of dynamic described ground-contacting element.

12. vehicles according to claim 1, wherein said driving assembly is by each tune of the speed of described ground-contacting element In whole delay one cycle, wherein the length for the described cycle of each adjustment is based on the time calculated, in described calculating The time gone out, the point on described surface that contact adjusting is based on by described ground-contacting element.

13. vehicles according to claim 1, also comprise one or more jockey being connected to described ground-contacting element and pass Sensor, wherein said jockey's sensor based on that detected by described jockey's sensor, applied by described ground-contacting element When power over the plates, sense that user or Payload be over the plates.

14. 1 kinds are used for the method transporting user, including:

Assume that the position on vehicle, described vehicle include:

For supporting the plate of user；

The single ground-contacting element coupled with described plate；

The motor-driven driving assembly coupled with described ground-contacting element；And

The sensor that one or more and described driving assembly couples, wherein said driving assembly based on by as described in sensor sense One or more distances on the described plate surveyed surface below described plate adjust the speed of described ground-contacting element；And

By making described plate tilt to operate described vehicle relative to described surface.

15. methods according to claim 14, wherein said plate is along the forward and backward pair with the traveling of described vehicle Before and after Qi, the size in plane is elongated is elongated.

16. methods according to claim 15, the one or more front sensors in wherein said sensor are positioned institute State the one or more rear sensor in the front end of the elongated dimension of plate, and described sensor and be positioned at the elongated chi of described plate Very little rear end.

17. methods according to claim 14, wherein said driving assembly passes through to make based on the one or more distance Calculate described plate by described distance and adjust the speed of described ground-contacting element relative to the pitching degree on described surface, and by power It is applied to described ground-contacting element to realize the predetermined speed of the described ground-contacting element corresponding to described pitching degree.

18. methods according to claim 17, wherein said pitching degree is determined by the one or more distance and institute The difference stated between the mean value of the two or more distances in distance calculates so that described driving assembly is in described surface Uneven adjustment.

19. methods according to claim 15, wherein by as described in ground-contacting element balance as described in plate when as described in machine Dynamic drive assembly in operation time be unstable relative to tumbling along described anterior-posterior plane, and described motor-driven driving group Part is configured as when described motor-driven driving assembly is in operation tumbling autobalance institute relative to along described anterior-posterior plane State plate.

20. methods according to claim 14, wherein said vehicle also includes operationally coupling with described driving assembly Vehicle locking module, when being wherein locked, described Vehicle locking module prevents the operation of described driving assembly.

21. methods according to claim 14, wherein said ground-contacting element includes by wheel, ball, tyre surface and discontinuous One in the group of the arcuate part composition of wheel.

22. methods according to claim 14, also include via the one or more lock fastener being connected to described plate Optionally described ground-contacting element is connected to described plate by locking or unlocking described securing member or separates from described plate Described ground-contacting element.

23. methods according to claim 14, wherein said vehicle also include being connected to the top of described plate one or Multiple fixtures so that described fixture is the most prominent uses their pin to mention described plate for user.

24. methods according to claim 14, wherein said sensor is acoustic sensor and described driving assembly bag Include the direct drive motor driving described ground-contacting element.

25. methods according to claim 14, wherein said driving assembly is every by the speed of described ground-contacting element Individual adjust the cycle of delay, wherein for the length in described cycle of each adjustment based on the time calculated, in described calculating The time gone out, the point that described ground-contacting element will contact on the described surface that described adjustment is based on.

26. methods according to claim 14, wherein said vehicle also includes one or more being coupled to described ground and connecing Touching jockey's sensor of component, wherein said jockey's sensor is based on that detected by described jockey's sensor, by described Face contact member applies power over the plates, when senses that user or Payload be over the plates.

27. 1 kinds of vehicles being used for transporting user, including:

For supporting the long shaped plate of user, wherein said plate is along before and after aliging with the forward and backward of the traveling of described vehicle Size in plane is elongated；

The single ground-contacting element coupled with described plate；

It is connected to one or more sensors of described plate；And

Motor-driven driving assembly, it operationally couples with described ground-contacting element and described sensor, wherein said driving group Part based on by as described in sensor detect, by as described in plate away from as described in one or more distances on surface below plate represent Described plate pitching degree adjust described ground-contacting element speed；

Wherein said motor-driven driving assembly is about plate described in described ground-contacting element automatic stabilisation so that described surface and front end And the desired distance between described surface and the rear end of described plate is kept, wherein said desired distance is dynamically determined For the average current distance detected between front end and described surface and the rear end of described plate and the described surface of described plate.

28. vehicles according to claim 27, wherein said pitching degree is defined when by described driving assembly automatic stabilisation Time from described plate about the degree of the angle deviating of described ground-contacting element.